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<a href="behaviors_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="preprocessor">#ifndef BEHAVIORS_H</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span><span class="preprocessor">#define BEHAVIORS_H</span>
<a name="l00004"></a>00004 <span class="preprocessor"></span>
<a name="l00020"></a>00020 <span class="preprocessor">#include &quot;<a class="code" href="variables_8h.html">variables.h</a>&quot;</span>
<a name="l00021"></a>00021 <span class="preprocessor">#include &lt;math.h&gt;</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {
<a name="l00026"></a>00026 <span class="preprocessor">#endif</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#aa65acb00bef7a3d7180a2f9ac2896b21" title="Initialize variables and functionalities (e.g. random generator) used in the behaviors.">initBehaviors</a>();
<a name="l00034"></a>00034 
<a name="l00041"></a>00041 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#ac1a169c077b398fbdc22bb9c2a55ecc1" title="Obstacle avoidance behavior based on a simplified force field method. It works for both forward and b...">obstacleAvoidance</a>(<span class="keywordtype">signed</span> <span class="keywordtype">int</span> *pwmLeft, <span class="keywordtype">signed</span> <span class="keywordtype">int</span> *pwmRight);
<a name="l00042"></a>00042 
<a name="l00053"></a>00053 <span class="keywordtype">char</span> <a class="code" href="behaviors_8c.html#a22f12e04faca8b86cad9383e5c5ea07b" title="Cliff avoidance simple implementation in which the robot can be stopped when a cliff is detected with...">cliffDetected</a>();
<a name="l00054"></a>00054 
<a name="l00059"></a>00059 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#a2afba55c6bd92ab0db4cdac3c142f88b" title="Enable obstacle avoidance behavior.">enableObstacleAvoidance</a>();
<a name="l00060"></a>00060 
<a name="l00065"></a>00065 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#a7988093c6402fbf4341ed941d60eaf32" title="Disable obstacle avoidance behavior.">disableObstacleAvoidance</a>();
<a name="l00066"></a>00066 
<a name="l00071"></a>00071 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#a404c13426bfcfafade00b1be6a855397" title="Enable cliff avoidance behavior.">enableCliffAvoidance</a>();
<a name="l00072"></a>00072 
<a name="l00077"></a>00077 <span class="keywordtype">void</span> <a class="code" href="behaviors_8c.html#af217436726ef03752c9438e0ea85ed79" title="Disable cliff avoidance behavior.">disableCliffAvoidance</a>();
<a name="l00078"></a>00078 
<a name="l00079"></a>00079 
<a name="l00080"></a>00080 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span>} <span class="comment">// extern &quot;C&quot;</span>
<a name="l00082"></a>00082 <span class="preprocessor">#endif</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span>
<a name="l00084"></a>00084 <span class="preprocessor">#endif</span>
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